JP2019012312A - Autonomous traveling working device and autonomous traveling working system - Google Patents

Abstract

To safely execute autonomous traveling work while prioritizing passage or suppressing noise by judging a utilization situation of a user.SOLUTION: An autonomous traveling working device 1 capable of executing autonomous traveling work comprises: a device body 2; a traveling part 3 which travels the device body 2 within a cleaning area; a cleaning part 4 which executes cleaning on a traveling route 22 of the device body 2 within the cleaning area; a measuring part 5 which measures a positional relationship between the device body 2 and a non-working target around the device body 2; a radio communication part 10 which receives peripheral information of the cleaning area or a peripheral area from an administrative server through a predetermined radio communication; and a control part 8 which controls the traveling part 3 and the cleaning part 4. Even in a case where a change of the non-working target such as a user within the cleaning area cannot be detected on the basis of a measurement result of the measuring part 5, the control part 8 predicts an action of the user in the cleaning area or the peripheral area on the basis of the peripheral information and limits operation of at least one of the traveling part 3 and the cleaning part 4 in such a manner that the action of the user is not disturbed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an autonomous traveling work apparatus capable of executing autonomous traveling work that autonomously travels and works automatically according to a program input in advance, and an autonomous traveling work system including the autonomous traveling work apparatus.

  Conventionally, an autonomous traveling work device inputs a program or the like in advance and creates or sets an environment map, a traveling route, a traveling setting, and a cleaning setting (working setting), and stores them by automatic operation based on the stored result. Autonomous running and automatic cleaning functions. For example, the autonomous traveling device is applied to an industrial (business) cleaning robot (autonomous traveling cleaning device) that performs a cleaning operation on a floor surface of a work area of a facility such as a commercial facility, an office, a hotel, or a hospital. In addition, some autonomous traveling work devices perform autonomous traveling cleaning (autonomous traveling work) while wirelessly communicating with external devices.

  For example, the robot apparatus (autonomous traveling working apparatus) of Patent Document 1 is a robot apparatus that can receive information from a terminal apparatus. The robot device moves a robot device and a communication unit that receives position information generated based on a map of a work area of the robot device created by the terminal device and a control command for the robot device from the terminal device. A traveling unit and a control unit that drives the traveling unit based on the position information and executes work based on the control command are provided.

JP 2013-242738 A

  By the way, an autonomous traveling work apparatus may perform work within a use time when a user of a facility travels a work area regardless of day or night. For example, in a hotel or a nursing facility, unlike a commercial facility, an autonomous traveling work device may be operated so as to perform cleaning during the day instead of at night, which is a bedtime. Therefore, the autonomous traveling work device is required to work in the work area without interfering with the user's traffic as much as possible, such as decelerating and suppressing noise. For example, some conventional autonomous traveling work devices stop or avoid when a person is detected based on the detection result of an obstacle sensor such as a laser range finder (LRF).

  However, during the normal usage time of the facility, a person may suddenly enter the work area from a room, elevator, stairs or the like adjacent to the work area, or the person may move around the work area in an emergency. In this case, in the conventional autonomous traveling work device, it is impossible to determine the usage status of the person in the facility, and even if a person suddenly enters the detection range of the obstacle sensor, the operation such as stop or avoidance is delayed. There is a risk of collision with people.

  In addition, when a user is present in a room adjacent to the work area, quietness and silence may be required regardless of the time zone. When the autonomous traveling work device normally performs a cleaning operation along the room, the user in the room is given unpleasant feeling such as noise. However, the obstacle sensor cannot detect the user in the room and it is difficult to reduce discomfort such as noise.

  In addition, although the conventional autonomous traveling work apparatus like patent document 1 can perform autonomous traveling work based on the positional information and control command received from the terminal device, the person who moves a work area or suddenly working area Cannot respond to people who entered Moreover, in the conventional autonomous traveling work apparatus, the discomfort given to the user in the room cannot be reduced.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to determine a user's situation in a work area where there are a plurality of adjacent rooms and where a user is coming and going. It is an object of the present invention to provide an autonomous traveling work apparatus that can safely perform autonomous traveling work while suppressing traffic and suppressing noise, and an autonomous traveling work system including the autonomous traveling work apparatus.

  In order to solve the above problems, a first autonomous traveling work device of the present invention is an autonomous traveling working device capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance. An apparatus main body, a traveling unit that causes the apparatus main body to travel within a work area, a work unit that performs work on a travel route in the work area of the apparatus main body, and a A measurement unit that measures a positional relationship with a work target, a wireless communication unit that receives surrounding information of the work area and / or its surrounding area from a predetermined external device by predetermined wireless communication, the traveling unit, and the work A control unit that controls the operation of the unit, and the control unit, when no change is detected in the non-work target in the work area by the measurement unit, based on the surrounding information Work area and / or to predict the behavior of the user of the surrounding area, and limits the operation of at least one of the user the run of so as not to interfere with the action and the working unit.

  According to the first autonomous traveling work device of the present invention, even when the user in the work area cannot be detected by the measuring unit by using the surrounding information of the work area or the surrounding area, the work area and the surrounding area are wide-ranging. It is possible to predict the behavior of the user over the period. In this way, judging the usage status of the user's facility, the travel setting of the traveling unit and the cleaning setting of the working unit are lowered in advance or the traveling and cleaning work are stopped so as not to disturb the user's behavior can do. In this way, it is possible to increase the safety and perform autonomous traveling work while giving priority to user traffic and suppressing noise in advance.

  In order to solve the above-described problem, in the second autonomous mobile work device of the present invention, the control unit predicts entry into the work area as the user's action based on the update of the surrounding information. It is characterized by.

  According to the second autonomous traveling work device of the present invention, even if the surrounding information is updated during execution of the autonomous traveling work, it is possible to respond to the update of the surrounding information as needed. Therefore, higher working efficiency can be maintained in accordance with changes in the usage status of the user's facility. In addition, even if the user cannot be detected by the measuring unit, since the user is expected to enter the work area, autonomous driving work that can avoid dangers such as a collision with the user who has suddenly entered the work area is performed. Can be done in advance. Therefore, the safety of collision avoidance can be further increased.

  In order to solve the above problem, in the third autonomous traveling work device of the present invention, the control unit uses emergency information that prompts the user to move as the surrounding information, and the user's It is characterized by predicting entry into the work area.

  According to the third autonomous traveling work device of the present invention, when an emergency situation occurs in a facility and movement of many users is predicted, the use is possible even if the user is not detected by the measuring unit. Autonomous traveling work that can avoid danger such as a collision with a person can be performed in advance. Therefore, the safety of collision avoidance when an emergency situation occurs can be further enhanced.

  In order to solve the above problem, in the fourth autonomous traveling work device of the present invention, when the control unit is predicted to enter the work area of the user by the emergency information as the surrounding information, Based on the measurement result of the measurement unit, an avoidance position that does not hinder the user's entry is detected, and the traveling unit is controlled to stop by moving the apparatus main body to the avoidance position, and the operation is stopped. The working unit is controlled as described above.

  According to the fourth autonomous traveling work apparatus of the present invention, it is possible to prevent a person or a truck traveling in a work area from moving in advance and opening a road (giving off the road) so as not to obstruct the traffic. For example, in work areas such as hospitals and nursing homes, it can be properly avoided without interfering with the movement of patients and elderly people walking along the walls. It can also handle sudden movements such as trolleys. Therefore, it is possible to perform autonomous traveling and automatic work while reducing discomfort caused by obstruction of traffic of people and trolleys and improving safety of traffic of people and trolleys.

  In order to solve the above-described problem, in the fifth autonomous traveling work device of the present invention, the control unit is provided in the room in the peripheral area as the surrounding information and is connected to the external device, and is connected to the external device. Detection information of a room condition sensor for detecting the usage situation and / or the presence of the user in the shared section provided in the shared section of the work area and / or the peripheral area and connected to the external device The approach of the user to the work area is predicted using detection information of the shared part sensor.

  According to the fifth autonomous traveling work apparatus of the present invention, it is possible to recognize the usage status of the user at various locations in the facility by using the room status sensor and the common unit sensor provided in the facility. And even if the user who tries to leave the room, the user who is in a place with poor visibility from the autonomous traveling work device, or the user who enters the work area from the outside cannot be detected by the measurement unit, Autonomous traveling work that can avoid dangers such as collisions can be performed in advance. Therefore, the safety of collision avoidance can be further enhanced in accordance with the usage status of users in various places of the facility. Moreover, since normal autonomous traveling work is maintained in a place where the user's entry is not predicted, the functions of the traveling unit and the working unit are not unnecessarily restricted, and work efficiency can be maintained satisfactorily.

  In order to solve the above problem, in the sixth autonomous traveling work device of the present invention, when the control unit is predicted to enter the work area of the user by the detection information as the surrounding information, Based on the detection information, a predicted entry position of the user to the work area is detected, and based on a measurement result of the measurement unit, a distance between the apparatus main body and the predicted entry position is calculated, and the calculation result Is less than or equal to a predetermined first set distance, the traveling unit is controlled to decelerate and the working unit is controlled to weaken the intensity of the work, and the calculation result is the first set distance. When the distance is equal to or shorter than a predetermined second set distance, the travel unit is controlled to avoid the predicted entry position.

  According to the sixth autonomous traveling work apparatus of the present invention, it is possible to perform autonomous traveling cleaning in advance so that dangers such as a collision with the user can be avoided more reliably.

  In order to solve the above-described problem, in the seventh autonomous traveling work device of the present invention, the control unit determines the presence of a room in the surrounding area as the user's action based on the surrounding information. It is characterized by.

  According to the seventh autonomous traveling work device of the present invention, even when a user in the room cannot be detected by the measurement unit, the autonomous traveling cleaning can reduce discomfort such as noise for the user. Can be done in advance. Therefore, discomfort such as noise caused by autonomous traveling cleaning can be reduced not only in the work area but also in the surrounding area such as a room.

  In order to solve the above-described problem, in the eighth autonomous traveling work device of the present invention, the control unit is provided in the room and connected to the external device as the surrounding information, and the usage status of the room is determined. It is characterized in that the presence of the room of the user is determined using detection information of a room condition sensor to be detected.

  According to the eighth autonomous traveling work device of the present invention, it is possible to more reliably recognize the room user's occupancy with a simple configuration using the room condition sensor provided in the facility.

  In order to solve the above-described problem, a ninth autonomous traveling work device of the present invention further includes a silencer that silences noise generated by the work of the working unit, and the control unit detects the detection as the surrounding information. When the presence of the room of the user is determined by the information, the room range of the room is detected, and based on the measurement result of the measurement unit, the distance between the apparatus main body and the room range is calculated, When the calculation result is equal to or less than a predetermined third set distance, the traveling unit is controlled to decelerate, the working unit is controlled to weaken the work intensity, and the silencer is activated. It is characterized by that.

  According to the ninth autonomous traveling work apparatus of the present invention, the noise of the working unit can be silenced with a simple configuration without stopping the cleaning work. And it is possible to more reliably reduce discomfort such as noise caused by autonomous traveling cleaning for a user in a peripheral area such as a room. In addition, autonomous traveling and automatic cleaning can be performed while reducing noise discomfort associated with autonomous traveling and automatic cleaning.

  In order to solve the above problems, an autonomous traveling work system of the present invention is provided in the autonomous traveling work apparatus, a management server as the external device provided in a facility having the work area, and the work area. And a wireless base station connected to the management server and capable of wirelessly communicating with the autonomous mobile work device in the work area.

  According to the autonomous traveling work system of the present invention, in addition to the advantages exhibited by the autonomous traveling work device, the wireless base station can remove the management server from the management server in any position in the work area. Can be reliably transmitted to the autonomous traveling work device. Accordingly, it is possible to always predict the behavior of the user in the work area and the surrounding area based on the latest surrounding information, in other words, it is possible to recognize the usage status of the facility of the user in real time. Therefore, it is possible to provide safe autonomous traveling cleaning that does not hinder the user's behavior while maintaining the cleaning efficiency at a high level.

  According to the present invention, the autonomous traveling work device and the autonomous traveling work system perform the autonomous traveling work safely while judging the usage status of the facility user and prioritizing the traffic of the user and suppressing the noise. Can do.

It is a block diagram which shows the structure of the autonomous running work system which concerns on embodiment of this invention. It is a table | surface which shows the example of the surrounding information which the management server of the autonomous running work system which concerns on embodiment of this invention manages, and is transmitted to an autonomous running work apparatus. It is a schematic diagram showing the composition of the autonomous running work device concerning the embodiment of the present invention. It is a schematic diagram which shows the example of the environmental map and driving | running route used in the autonomous driving | working work apparatus which concern on embodiment of this invention, and the area layout around these. It is a top view which shows the operation display part of the autonomous running work apparatus which concerns on embodiment of this invention, and the menu screen of the touch panel. It is a top view which shows the area selection screen of the touch panel of the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the operation example of the autonomous running cleaning in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the example of the prediction operation | movement of the autonomous running cleaning in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the example of the approach prediction based on detection information as prediction operation | movement of the autonomous running cleaning in the autonomous running work apparatus which concerns on embodiment of this invention. It is a flowchart which shows the example of occupancy determination based on detection information as prediction operation | movement of the autonomous running cleaning in the autonomous running working apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the operation example at the time of detecting a moving object in the autonomous running work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the operation example at the time of predicting a user's approach to the cleaning area in the autonomous running work apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the operation example at the time of determining a user's occupancy in the autonomous running work apparatus which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are preferable specific examples of the present invention and disclose various preferable techniques, but the technical scope of the present invention is not limited to these embodiments.

  An autonomous traveling work system 100 according to an embodiment of the present invention will be described. The autonomous traveling work system 100 is applied to a facility FA such as a hotel, a hospital, a care facility, a commercial facility, and an office having a plurality of rooms RO. As shown in FIG. 1, in the autonomous traveling work system 100, a management server 101, a management computer 102, one or more radio base stations 103, and one or more floor controllers 104 include a LAN (Local Area Network). 105 is connected. Each radio base station 103 is connected to the autonomous mobile work device 1 according to the embodiment of the present invention so as to be capable of radio communication.

  FIG. 1 shows an example in which the autonomous traveling work system 100 is applied to a facility FA (the second floor is not shown) having three floors (floors) 1F and 3F, but is not limited to this example. It may be applied to a facility FA having one or more floors. Each radio base station 103 and each floor controller 104 may be provided for each floor 1F, 3F, and one or more radio base stations 103 may be provided for each floor 1F, 3F. In FIG. 1, an example in which the floor 3F has two rooms RO (for example, room 301 and room 302) is not limited to this example, but one or more rooms RO are provided for each floor 1F and 3F. You may have. Moreover, although the example which arrange | positions the autonomous running | working work apparatus 1 in the floor 3F is shown in FIG. 1, it is not limited to this example, The autonomous running working apparatus 1 is used in common with each floor 1F, 3F, and each floor It moves to each floor 1F, 3F according to the cleaning time of 1F, 3F.

  Each room RO on each floor 1F, 3F is provided with a room condition sensor for detecting the use situation of the room RO. For example, as a room condition sensor, a door lock sensor 110 that detects whether a door DO (see FIG. 4) of the room RO is locked or a room card that is a key of the door DO enters a designated holder in the room RO after entering the room. A room card sensor 111 for detecting whether or not the card is stored in the card is provided. The door DO using the room card as a key may be automatically locked after being unlocked and then closed. Note that a human sensor or a camera that detects the presence of the user may be provided as the room condition sensor. Room condition sensors such as the door lock sensor 110 and the room card sensor 111 are connected to the floor controllers 104 on the first floor and the third floor.

  The common part sensor of each floor 1F and 3F is provided with the common part sensor which detects the utilization condition of a common part. For example, as a shared section sensor, the hall hall HA which is a shared section may be provided with a hall sensor 112 for detecting a user of the elevator EV, a camera, or the like, or judging whether the user gets on or off each floor. Therefore, the operation of the floor buttons on the floors 1F and 3F provided in the elevator EV may be detected. In addition, as a common part sensor, a human sensor or a camera for detecting a user of the staircase ST1 or the emergency staircase ST2 may be provided at the landing or entrance of the staircase ST1 or the emergency staircase ST2 that is the common part, or the staircase An opening / closing sensor or a lock sensor for a staircase doorway at the entrance / exit of ST1 or emergency staircase ST2 may be provided. It should be noted that a human sensor or a camera for detecting a user may be provided as a shared section sensor in the passage PA and other shared spaces on the floors 1F and 3F. Common area sensors such as the hall sensor 112 are also connected to the floor controllers 104 on the first floor and the third floor (see FIG. 4).

  Moreover, the common information section of each floor 1F and 3F may be provided with an emergency information output device such as a floor speaker 113 and a monitor for notifying the user of the facility FA of emergency information. The emergency information output device such as the floor speaker 113 is also connected to the floor controller 104 of each floor 1F and 3F. Emergency information includes various types of emergencies, such as evacuation information and disaster information distributed at various facilities FA such as hotels, and nurse calls distributed at facilities FA such as care facilities and hospitals. And stat call. For example, emergency information such as evacuation information and disaster information includes emergency earthquake warnings, tsunami warnings, special alarms, etc. distributed from various emergency information transmission sites 107, disaster / evacuation information distributed from national / local governments, etc. There are fire, disaster, and evacuation information distributed from the operating company of the facility FA. The emergency information includes whole building emergency information for the whole facility FA and floor-specific emergency information for each floor 1F, 3F. In addition, when the whole building emergency information is distributed, it may be distributed by broadcast for an emergency.

  The management server 101 is connected to the Internet 106, and is connected to the emergency information transmission site 107, the external reservation site 108, and the like via the Internet 106. The management server 101 can receive emergency information from the emergency information transmission site 107 in real time. Further, the management server 101 can accept reservations for the facility FA and the room RO in accordance with the use of the external reservation site 108.

  The management server 101 receives and stores detection information (ON or OFF) of room condition sensors (door lock sensor 110 and room card sensor 111) of each room RO on each floor 1F and 3F via the LAN 105 and each floor controller 104. To do. Further, the management server 101 receives and stores detection information (on or off) of the common area sensors (hall sensor 112 for halls) on each floor 1F and 3F via the LAN 105 and each floor controller 104. Thereby, the management server 101 manages the usage status of each room RO and common part of each floor 1F and 3F.

  In addition, the management server 101 receives emergency information from the emergency information transmission site 107 or the like via the Internet 106, the management computer 102 connected to the management server 101, or a nurse call or stat call. When an input operation is performed, emergency information is transmitted to the emergency information output device such as the floor speaker 113 on each floor 1F and 3F via the LAN 105 and each floor controller 104. When the emergency information is the entire building emergency information, the management server 101 transmits the emergency information to the floor controllers 104 of all the floors 1F and 3F, and the emergency information is the floor-specific emergency information of the predetermined floor. In this case, emergency information is transmitted to the floor controller 104 on the predetermined floor. Thereby, the management server 101 can notify emergency information to the user of the facility FA.

  Further, the management server 101 operates when the autonomous mobile work device 1 operates on the predetermined floors 1F and 3F and can communicate with any one or more wireless base stations 103 on the floors 1F and 3F. The surrounding information is transmitted to the autonomous mobile work device 1 via the radio base station 103. The surrounding information may be transmitted by all of the one or more wireless base stations 103 in the floors 1F and 3F where the autonomous traveling working device 1 is operating, or the wireless base stations in the vicinity of the autonomous traveling working device 1 103 may be transmitted only. The passages PA and the like of the floors 1F and 3F where the autonomous traveling work device 1 is operating are set as the cleaning area AR1 (working area) to be cleaned, while the room RO, the elevator EV, and the staircase ST1 along the passage PA. The emergency staircase ST2 and the like are defined as a peripheral area AR2 of the cleaning area AR1. The surrounding information is information around the operating autonomous traveling work device 1 that is operating, and is information that can predict a user's behavior in at least one of the cleaning area AR1 and the surrounding area AR2 (see FIG. 4).

  For example, as illustrated in FIG. 2, the surrounding information includes emergency information managed by the management server 101 as described above. FIG. 2 shows an example in which the emergency information managed by the management server 101 is the flag of the emergency information for each building and the emergency information for each floor (emergency occurrence or emergency cancellation) regardless of the type of emergency. The management server 101 may manage emergency information for each emergency situation. The management server 101 may transmit surrounding information indicating the emergency information to the autonomous traveling work device 1 at a timing when such emergency information is received or input. In addition, the ambient information includes the detection information of the room state sensors (door lock sensor 110 and room card sensor 111) of each room RO stored in the management server 101 as described above, and the common part sensor (hall sensor 112 for halls). Contains detection information. The management server 101 may transmit surrounding information indicating the detection information to the autonomous traveling work device 1 at a timing when the detection information is updated. In addition, although the management server 101 has shown the example which has the surrounding information of the facility FA (2nd floor is not shown) which has four floors 1F, 3F, and 4F in FIG. 2, it is not limited to this example, The management server 101 may have surrounding information of a facility FA having one or more floors.

  The management computer 102 is a computer operated by an administrator of the facility FA, and can centrally control the management server 101, each radio base station 103, and each floor controller 104 via the LAN 105. The management computer 102 may be configured to be able to remotely operate the autonomous mobile work device 1 via the LAN 105 and each wireless base station 103.

  The wireless base station 103 is a device that interconnects devices by wireless communication using a wireless LAN such as Wi-Fi or a communication standard such as Bluetooth (registered trademark), for example, and the autonomous traveling work device 1 and the management server 101. And relay equipment. As described above, one or more radio base stations 103 may be provided at predetermined intervals in the cleaning area AR1 for each floor 1F, 3F.

  The floor controller 104 is a device that manages and controls the user's situation in each floor 1F and 3F. The floor controller 104 monitors the detection information of the room condition sensors (the door lock sensor 110 and the room card sensor 111) of each room RO on the floors 1F and 3F and the detection information of the common area sensor (hall sensor 112 for halls). The updated detection information is transmitted to the management server 101.

  Next, the autonomous traveling work device 1 will be described. As shown in FIG. 3, the autonomous traveling work device 1 includes an apparatus main body 2 for housing each part and a traveling unit 3 that causes the apparatus main body 2 to travel. The autonomous traveling work device 1 can be equipped with a working mechanism (working unit) that performs a predetermined work in the device main body 2. For example, the cleaning unit 4 that performs a cleaning operation on the floor surface FL below the device main body 2. Is provided as a working unit.

  In addition, the autonomous traveling work device 1 has a positional relationship between the device main body 2 and a non-work target such as a person around the device main body 2, a wall WA (see FIG. 4), and other obstacles (for example, an ornament) ( For example, a measurement unit 5 that measures an angle or a distance with respect to the traveling direction of the apparatus main body 2 and an imaging unit 6 that captures an image around the apparatus main body 2 are provided. Furthermore, the autonomous traveling work device 1 includes a silencer 7 that exhibits a silencing effect against noise generated by the cleaning work of the cleaning unit 4. In addition, the autonomous traveling work device 1 includes various parts of the autonomous traveling work device 1 and various functions (running by the traveling unit 3, cleaning work by the cleaning unit 4, measurement by the measuring unit 5, imaging by the imaging unit 6, and silencing by the silencer 7. Etc.) is provided. Further, the autonomous traveling work device 1 performs wireless communication with the operation display unit 9 including the touch panel 33 (see FIG. 5) for operation and display of various functions of the autonomous traveling work device 1 and the wireless base station 103. A wireless communication unit 10 for communicating with an external device such as a management server 101; a power supply unit 11 for supplying power to each unit of the autonomous mobile work device 1 and controlling a remaining battery charge and charging (not shown); Is provided.

  The autonomous traveling work apparatus 1 mainly operates in an automatic mode in which autonomous traveling and automatic cleaning (work) are performed according to a program or data input in advance as an operation mode. In the automatic mode, the autonomous traveling work device 1 avoids collisions with non-working objects such as people, walls WA, and other obstacles while traveling with priority on cleaning. In addition, the autonomous traveling working apparatus 1 can also operate | move as operation mode in the setting mode which performs driving | running | working and cleaning according to manual operation, remote operation, or the data which corrected the data input beforehand. Further, a manual operation mode that operates by accepting a user's manual operation or a remote operation mode that accepts and operates a remote operation by an operation of the user's tablet terminal or the like may be set in the setting mode.

  The autonomous traveling work device 1 automatically performs the area layout 20 of the cleaning area AR1, the environment map 21 and the traveling route 22, the traveling setting of the traveling unit 3, and the cleaning setting (working setting) of the cleaning unit 4 as shown in FIG. Operation information is created or set and stored, and based on the automatic operation information, autonomous traveling cleaning (autonomous traveling work) that performs traveling and cleaning by automatic operation is executed. The automatic operation information includes facility information (names of hotels, hospitals, new buildings, annexes, etc.) and area information (floor display D1 and room number D2) regarding the cleaning area AR1.

  The area layout 20 includes, for example, the passage PA which is the cleaning area AR1, the arrangement of the staircase ST1, the emergency staircase ST2 and the elevator EV, the arrangement of area information such as the floor display D1, the arrangement and the number of the rooms RO adjacent along the passage PA. The width (range) of each room RO on the passage PA side (cleaning area AR1 side) (hereinafter referred to as wall width WI), the width (range) of each room RO based on the wall width WI, and the position of the door DO of each room RO Have information about The arrangement of the rooms RO and the wall width WI of the area layout 20 can be reflected on the environment map 21. For example, when the range of each room RO is divided based on the area layout 20, and the wall information on the passage PA side is further divided based on the wall width WI of the divided room RO, the wall information is obtained by the environment information. It can be reflected on the map 21. For example, when the wall information of the wall WA partitioned by the wall width WI of the room RO of the room 304 in the area layout 20 is 304 walls, the 304 wall is reflected as the range of the room RO of the room 304 on the environment map 21. Then, the width (room range) of the room RO of the room 304 can be detected by the measuring unit 5.

  The traveling unit 3 is provided at a lower portion of the apparatus main body 2 and includes a pair of left and right front wheels 3a as drive wheels and a rear wheel 3b as auxiliary wheels. Each of the pair of left and right front wheels 3a is provided with a motor (not shown) for driving forward or reverse and an encoder (not shown) for detecting rotation. The traveling unit 3 can move the device main body 2 forward or backward by simultaneously rotating the pair of left and right front wheels 3a in the normal direction or the reverse direction. Further, the traveling unit 3 can turn the apparatus main body 2 leftward or rightwardly by stopping or rotating the one front wheel 3a at the same time and rotating the other front wheel 3a at a high speed. The traveling unit 3 can also turn around the minimum turning axis A on the spot by rotating the pair of left and right front wheels 3a in opposite directions.

  In the traveling unit 3, while the operation mode of the autonomous traveling working device 1 is set to the automatic mode, the motors of the pair of left and right front wheels 3 a of the traveling unit 3 operate according to the stored traveling route 22 and traveling settings. Thus, the operation (stop and advance) of the apparatus main body 2 is activated and stopped, the travel speed is adjusted (acceleration / deceleration), and the left turn and the right turn are automatically operated. The traveling unit 3 does not accept manual operations other than the operation of the emergency stop button 32 (see FIG. 5) of the operation display unit 9 while the automatic mode is set.

  The data stored as the travel route 22 of the travel unit 3 includes, for example, the coordinates of the travel route 22 (X coordinate and Y coordinate on the environment map 21), the turning angle with respect to the traveling direction, and the count number of the encoders of the pair of left and right front wheels 3a. The travel route 22 can be illustrated based on these data. The travel setting of the travel unit 3 includes travel operation / stop, travel speed, and the like. For example, data on the motor operating states (off, low speed, medium speed, high speed) of the pair of left and right front wheels 3a travels. Stored for each position of the path 22. Alternatively, the operating state of the travel motor may be set in multiple steps using numbers (1 to 5 or 1 to 7 or the like). The travel setting of the travel unit 3 may be initially set, or may be stored in advance in a storage device (not shown) of the control unit 8 by an operator, and in advance when a new environment map 21 or travel route 22 is created. It may be automatically created based on the environment map 21 and the travel route 22 according to the input program, or may be manually set via the operation display unit 9. In addition, when the operation mode of the autonomous traveling work device 1 is set to the setting mode, it is possible to newly create or modify the traveling route 22 or the traveling setting.

  The traveling unit 3 may include a manual operation unit (not shown) such as a handle that receives a manual operation by an operator. In the autonomous traveling work device 1, the motors of the pair of left and right front wheels 3a of the traveling unit 3 are operated according to the manual operation of the manual operation unit by the operator, and the operation (forward and backward) of the device main body 2 is activated and stopped. The travel speed adjustment (acceleration / deceleration), left turn, and right turn may be manually operated. Further, the autonomous traveling work device 1 may be configured to receive a remote traveling operation using the operation display unit 9 configured by a tablet terminal or the like, and the traveling unit 3 travels according to the remote traveling operation. The operator displays the operation while viewing the autonomous traveling work device 1 existing in the cleaning area AR1 or visually recognizing the area layout 20 and the environment map 21 displayed on the touch panel 33 of the operation display unit 9 such as a tablet terminal. By operating the unit 9, the traveling unit 3 can be traveled by a remote travel operation.

  The cleaning unit 4 is provided at a front lower portion in the apparatus main body 2 and is configured by a mechanism that cleans the floor surface FL by a dry cleaning method, for example. The cleaning unit 4 rotates to collect a brush 4a that collects dust on the floor surface FL, a brush motor (not shown) that drives the brush 4a to rotate, and a blower that draws the dust collected by the brush 4a (see FIG. (Not shown), a suction nozzle 4b serving as a suction port for the blower, a bucket (not shown) for storing dust sucked by the blower, and an exhaust duct 4c for discharging exhaust gas generated by suction of the blower. The brush 4a of the cleaning unit 4 is provided on the front lower surface of the apparatus main body 2, and cleans the floor surface FL by rotating while contacting the floor surface FL. The suction nozzle 4b of the cleaning unit 4 is disposed rearward of the brush 4a with the distal end facing the vicinity of the floor surface, and a blower is provided on the proximal end side. The exhaust duct 4 c of the cleaning unit 4 extends from the front lower blower in the apparatus main body 2 to the back side.

  The cleaning unit 4 is configured to perform the cleaning work of the floor surface FL by operating the brush motor and the blower according to the stored cleaning setting while the operation mode of the autonomous traveling work device 1 is set to the automatic mode. Is done. The cleaning setting of the cleaning unit 4 is the operation / stop of the brush motor, the rotation speed, the operation / stop of the blower, the suction strength, etc. For example, the operation state of the brush motor (off, low speed, medium speed, high speed) Data such as the operating state of the blower (off, small amount, medium amount, large amount) is stored for each position of the travel route 22. Or the operation state of a brush motor or a blower may be set in multiple steps by numbers (1-5 or 1-7, etc.). The cleaning setting may be initially set, or may be stored in advance in a storage device (not shown) of the control unit 8 by an operator, and is pre-input when a new environment map 21 or travel route 22 is created. Accordingly, it may be automatically created based on the environment map 21 and the travel route 22, or may be set manually via the operation display unit 9. In addition, when the operation mode of the autonomous traveling working device 1 is set to the setting mode, a new cleaning setting can be created or modified.

  The measuring unit 5 includes an obstacle sensor 5a such as a laser range finder (LRF) that measures a distance and an angle between the apparatus main body 2 and a non-work target such as a surrounding person, a wall WA, and other obstacles. Prepare. The measuring unit 5 may also include a step sensor (not shown) that detects a step on the floor surface FL near the apparatus body 2, a contact sensor (not shown) that detects contact with a non-work target, and the like. Good. The obstacle sensor 5a is provided, for example, outside (for example, the front surface) of the apparatus main body 2, and can transmit / receive measurement light to / from a predetermined scanning range as shown in FIG. Within the measurable height, the non-work target existing within the predetermined measurable range RA is detected from the obstacle sensor 5a.

  In addition, when the non-work object detected by the obstacle sensor 5a of the measurement unit 5 is a stationary object, the distance of the traveling unit 3 between the autonomous traveling work device 1 that is traveling and the stationary object is calculated by the traveling unit 3 traveling. It can be estimated and calculated based on the speed. On the other hand, when the non-work object detected by the obstacle sensor 5a of the measuring unit 5 is a moving object M such as a person or a trolley approaching the autonomous traveling work apparatus 1 side, the autonomous traveling working apparatus 1 and the moving object that are traveling are moving. Regarding the distance per unit time with M, the distance measured by the obstacle sensor 5a is shorter than the distance calculated based on the traveling speed of the traveling unit 3 like a stationary object. In other words, based on the detection result of the obstacle sensor 5a of the measuring unit 5, it is possible to detect the moving object M approaching the autonomous mobile work device 1 side.

  Further, as shown in FIG. 11 and the like, the measurement range that is the measurement result of the obstacle sensor 5a of the measurement unit 5 is a predetermined measurement unless it is obstructed by non-working objects such as people, walls WA, and other obstacles It extends to the possible range RA. By comparing the measurement range with the predetermined measurable range RA, it can be determined whether or not the measurement range is restricted by the wall WA, and the range restricted by the wall WA can be estimated. .

  The imaging unit 6 includes a camera 6 a such as a CCD (Charge Coupled Device) that captures an image around the apparatus body 2. For example, the camera 6a is provided outside the apparatus body 2 (for example, the front upper surface) so as to capture a surrounding image within a predetermined imaging range in front of the apparatus body 2. The surrounding image by the imaging unit 6 is used, for example, for recording a work situation by a drive recorder provided in the autonomous traveling work device 1.

  The silencer 7 outputs active silencer that exerts a silencing effect on the exhaust sound (noise) generated by the blower of the cleaning unit 4 and transmitted through the exhaust duct 4c. The silencer 7 includes, for example, a microphone (not shown) that collects the exhaust sound of the blower, a silencer generator (not shown) that generates active silencer, and a speaker (not shown) that outputs active silencer. ). The microphone is disposed close to the exhaust duct 4c and collects the exhaust sound of the blower in the vicinity of the exhaust duct 4c. Based on the exhaust sound collected by the microphone, the silencer generation unit generates active silencer having an opposite phase obtained by shifting the phase of the exhaust sound by half. The speaker is disposed in the vicinity of the exhaust duct 4c, and outputs an active silencer in the vicinity of the exhaust duct 4c. Thereby, the silencer 7 exerts a silencing effect on the exhaust sound by superposing the active silencer on the exhaust sound of the blower and outputting it. The silencer generation unit of the silencer 7 may be configured as a program of the control unit 8.

  The control unit 8 includes a computer (not shown) such as a CPU (Central Processing Unit), a storage device (not shown) including a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a flash memory, and the like. Is provided. The control unit 8 is connected to each part of the autonomous traveling work device 1 such as the traveling unit 3, the cleaning unit 4, the measuring unit 5, the imaging unit 6, the mute unit 7, the operation display unit 9, the wireless communication unit 10, and the power supply unit 11. It is connected.

  The storage device of the control unit 8 stores programs and data for controlling each unit and various functions of the autonomous traveling work device 1. The control unit 8 performs overall control of each unit and various functions by causing the computer to read a program or data stored in the storage device and execute the program. For example, the storage device includes an area layout 20, an environment map 21, a travel route 22, travel settings, and cleaning settings as shown in FIG. 4 for a program executed in autonomous travel cleaning and one or more cleaning areas AR1. Combined automatic operation information is stored. The control unit 8 controls autonomous traveling by the traveling unit 3, automatic cleaning by the cleaning unit 4 and the like based on this program and automatic operation information.

  For example, data relating to automatic operation information such as the area layout 20, environmental map 21, travel route 22, travel setting and cleaning setting of the cleaning area AR 1 is controlled by the operator using the operation display unit 9 and the wireless communication unit 10. 8 is stored in the storage device. As shown in FIG. 4, the travel route 22 includes an autonomous travel cleaning start position P <b> 1 and a stop position P <b> 2.

  Alternatively, the environmental map 21 is controlled by causing the cleaning area AR1 to travel by manual operation by the manual operation unit or remote operation by the operation display unit 9 such as a tablet terminal when the autonomous traveling work device 1 is operated in the setting mode. It may be created by the part 8 as follows. During this travel, the measuring unit 5 measures the distance and angle to non-working objects such as people around the device body 2, the wall WA, and other obstacles. The control unit 8 uses a technology such as SLAM (Simultaneous Localization and Mapping) that estimates the self-location and creates the environment map 21 in real time, based on the measurement result of the measurement unit 5, While creating a local map, the local map of each position is synthesize | combined and the environmental map 21 is produced, and it links | relates with this cleaning area AR1, and memorize | stores it in a memory | storage device. Alternatively, the environment map 21 may be created by the control unit 8 by inputting a program based on the area layout 20 of the cleaning area AR1.

  Further, the travel route 22 may be created by the control unit 8 as described below when the environment map 21 is created based on the measurement result of the measurement unit 5 in the setting mode as described above. Based on the environment map 21 and the detection results of the encoders of the pair of left and right front wheels 3 a of the traveling unit 3, the control unit 8 estimates the self-position (coordinates) of the device body 2 in the environment map 21. Travel route 22 is created and stored in the storage device in association with the cleaning area AR1. Alternatively, the travel route 22 may be automatically created by the control unit 8 so as to have a predetermined pattern based on the environment map 21. For example, as the predetermined pattern, there are a pattern in which the reciprocating travel is repeated while being offset by a predetermined distance in the longitudinal direction of the environmental map 21, and a pattern in which the reciprocating travel is repeated while being offset by a predetermined distance from the wall WA.

  In addition, the travel setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4 may be stored in the storage device in association with the cleaning area AR1 by the control unit 8 during operation in the setting mode.

  Furthermore, the control unit 8 performs an avoiding operation for limiting the functions of the traveling unit 3 and the cleaning unit 4 so as to avoid non-working objects such as stationary objects and moving objects M in the cleaning area AR1 detected by the measuring unit 5. Control. Further, the storage device of the control unit 8 stores the surrounding information of the cleaning area AR1 and the surrounding area AR2 of the facility FA, and predicts the behavior of the users in the cleaning area AR1 and the surrounding area AR2 based on the surrounding information. Thus, the prediction operation for limiting the functions of the traveling unit 3 and the cleaning unit 4 is controlled so as not to disturb the action. The storage device stores, for example, data equivalent to the surrounding information managed by the management server 101 illustrated in FIG. The avoidance operation and the prediction operation of the autonomous traveling work device 1 will be described later.

  The operation display unit 9 is provided on the rear upper surface of the apparatus main body 2 and includes a main switch 31, an emergency stop button 32, and a touch panel 33 (display unit) as shown in FIG. Are connected to the control unit 8. The operation display unit 9 may be configured by an operation display panel or the like attached to the apparatus main body 2, or may be configured by a tablet terminal or the like that is detachably attached to the apparatus main body 2. In addition, the operation display part 9 comprised with a tablet terminal etc. may be attached by built-in, and is connected with the control part 8 via the radio | wireless communication part 10, and can thereby operate the autonomous traveling work apparatus 1 remotely. It becomes.

  The main switch 31 is configured to be switched on and off. When the main switch 31 is turned on, power is supplied to each part from the power supply unit 11 to operate the autonomous traveling work device 1, while the main switch 31 is turned off to supply power from the power supply unit 11 to each part. Is stopped and the operation of the autonomous mobile work device 1 is stopped. The emergency stop button 32 is operated to forcibly stop the operation of each part of the autonomous traveling work device 1 (particularly autonomous traveling) and forcibly stop the power supply from the power supply unit 11 to each part ( (See FIG. 5).

  The touch panel 33 displays various screens according to the control signal from the control unit 8 and transmits an operation signal based on the touch operation on each screen to the control unit 8. Details of each screen displayed on the touch panel 33 will be described later.

  Based on a control signal from the control unit 8, the wireless communication unit 10 performs wireless communication with the operation display unit 9 such as a tablet terminal and an external device according to a communication standard such as a wireless LAN such as Wi-Fi or Bluetooth. For example, the wireless communication unit 10 transmits a control signal for displaying each screen from the control unit 8 to the operation display unit 9 of the tablet terminal, and receives an operation signal from the operation display unit 9 of the tablet terminal to the control unit 8. Do. Further, the wireless communication unit 10 can connect to the management server 101 by wireless communication with the wireless base station 103, and can acquire data related to automatic operation information and surrounding information.

  The power supply unit 11 includes a battery (power supply) and a charging circuit mounted inside the apparatus main body 2. The battery is charged by being connected to an external power supply, and supplies power to each part of the autonomous traveling work device 1. .

  Next, the operation | movement of the autonomous running cleaning in each operation mode of the autonomous running working device 1 of this embodiment is demonstrated, referring FIGS. When the autonomous traveling work device 1 is operated to clean the predetermined cleaning area AR1, the control unit 8 displays a menu screen 35 shown in FIG.

  On the menu screen 35, as an operation mode switching button, an automatic mode button 35a and a setting mode button 35b are displayed so that a touch operation is possible. The operation mode of the autonomous traveling working device 1 is switched to the automatic mode by operating the automatic mode button 35a, and is switched to the setting mode by operating the setting mode button 35b. Further, although not shown, the setting mode may be switched to the manual operation mode or the remote operation mode by operating the manual operation mode button or the remote operation mode button.

  The operation in the automatic mode of the autonomous traveling work device 1 will be described. When the automatic mode button 35a on the menu screen 35 is operated to set the automatic mode, the control unit 8 can select an area to be automatically cleaned instead of the menu screen 35. Area selection as shown in FIG. A screen 37 is displayed on the touch panel 33.

  On the area selection screen 37, an area key 37a is displayed so as to be selectable for each automatic operation information of one or more cleaning areas AR1 stored in the storage device of the control unit 8. Further, the area selection screen 37 is provided with a facility column 37b and an area column 37c. The area key 37a is divided into the facility column 37b for each common facility information, and the area column 37c corresponding to the facility column 37b. Are listed. When any area key 37a displayed on the area selection screen 37 is selected, the automatic operation information corresponding to the selected area key 37a is selected as the automatic operation information to be subjected to autonomous running cleaning.

  On the area selection screen 37, the menu button 37d is displayed so that it can be touched. When the menu button 37d is operated, the automatic mode is terminated and the operation mode of the autonomous mobile work device 1 is turned off, and the control unit 8 displays the menu screen 35 on the touch panel 33 instead of the area selection screen 37.

  Furthermore, on the area selection screen 37, the automatic selection button 37e is displayed so that a touch operation is possible. When the automatic selection button 37e is operated, the control unit 8 is based on the surrounding image of the autonomous traveling work device 1 by the imaging unit 6. Thus, the character notation relating to the type of the cleaning area AR1 such as facility information (names of hotels, hospitals, new buildings, annexes, etc.) and area information (floor display D1 and room number D2) of the cleaning area AR1 is detected. And if the control part 8 detects the character notation regarding the kind of cleaning area AR1, the automatic operation information (Area layout 20, environmental map 21, traveling route 22, traveling setting, and cleaning setting) corresponding to the cleaning area AR1 will be obtained. Select as automatic operation information for autonomous running cleaning.

  The control unit 8 reads the automatic operation information selected as described above from the storage device, and controls the traveling unit 3 and the cleaning unit 4 based on the automatic operation information to perform autonomous traveling cleaning. The autonomous traveling cleaning is started from the start position P1 of the traveling route 22. In autonomous running cleaning, an area layout 20, an environment map 21, and a running route 22 as shown in FIG. Further, when performing the autonomous traveling cleaning, the control unit 8 newly creates the environmental map 21, the traveling route 22, the traveling setting, and the cleaning setting of the cleaning area AR1, and updates and stores the previous automatic operation information. You may memorize | store in an apparatus. In autonomous running cleaning, an avoidance operation and a prediction operation described later are performed.

  The operation in the setting mode of the autonomous traveling work device 1 will be described. When the setting mode button 35 b on the menu screen 35 is operated to set the setting mode, the control unit 8 displays a setting start screen (not shown) on the touch panel 33 instead of the menu screen 35. On the setting start screen, it is possible to select a new creation mode and a correction mode for automatic operation information as described above.

  When the new creation mode is set on the setting start screen, the autonomous traveling work device 1 can be operated by manual operation by the manual operation unit or by remote operation by the operation display unit 9 such as a tablet terminal. And the control part 8 produces the environmental map 21 of cleaning area AR1 based on this driving | running | working operation, and memorize | stores it in a memory | storage device. Further, as described above, the control unit 8 automatically creates the travel route 22 based on the created environment map 21 or automatically based on the data of the travel unit 3 when the environment map 21 is created. A travel route 22 is created and stored in the storage device. In the new creation mode, the manual operation mode and the remote operation mode may be selected and set.

  After the creation of the environmental map 21 and the travel route 22 is completed, the control unit 8 can set the travel setting and the cleaning setting of the automatic operation information in a state where the travel of the autonomous traveling work device 1 is stopped (not shown). ) Is displayed on the touch panel 33. On the detailed setting screen, for example, the environment map 21 and the travel route 22 are displayed on the touch panel 33, and the start position P1 and the stop position P2 can be set on the displayed travel route 22. In addition, on the detailed setting screen, traveling settings and cleaning settings at each position on the displayed traveling route 22 can be set. At this time, on the detailed setting screen, a button that can set the operating state of the motor of the pair of left and right front wheels 3a related to the forward movement, backward movement, turning, etc. of the traveling unit 3 and a display that shows the operating state are displayed. Further, on the detailed setting screen, a button that can set the operating state of the brush motor and the blower of the cleaning unit 4 and a display indicating the operating state are displayed.

  Then, the control unit 8 stores the environment map 21 and the travel route 22 created as described above, and the automatic operation information including the travel setting and the cleaning setting set on the detailed setting screen in association with the cleaning area AR1. Store in the device. Moreover, the control part 8 selects this newly created automatic operation information as automatic operation information to be subjected to autonomous running cleaning. The operation after the selection of the automatic operation information is the same as in the automatic mode.

  When the correction mode is set on the setting start screen, the control unit 8 selects the correction area selection screen (not shown) similar to the area selection screen 37 in order to select the cleaning area AR1 to be corrected and the automatic operation information. ) Is displayed on the touch panel 33. On the correction area selection screen, one or more cleaning areas AR1 stored in the storage device of the control unit 8 are displayed so as to be selectable. The control unit 8 sets the automatic operation information of the cleaning area AR1 selected on the correction area selection screen as a correction target, and an information correction screen that can correct the environment map 21, the travel route 22, the travel setting, and the cleaning setting of the automatic operation information. (Not shown) is displayed on the touch panel 33.

  In the information correction screen, the environment map 21 and the travel route 22, and the start position P1 and the stop position P2 on the travel route 22 are displayed on the touch panel 33 so as to be correctable in the same manner as the detailed setting screen. Further, on the information correction screen, the travel setting and the cleaning setting at each position on the displayed travel route 22 can be corrected in the same manner as the detailed setting screen.

  Then, the control unit 8 overwrites the automatic operation information including the environment map 21 and the travel route 22 corrected on the detailed setting screen, and the travel setting and the cleaning setting, and stores them in the storage device. Further, the control unit 8 selects the automatic operation information corrected on the information correction screen as the automatic operation information to be subjected to autonomous traveling cleaning. The operation after the selection of the automatic operation information is the same as in the automatic mode.

  Next, avoidance operation during execution of autonomous traveling cleaning of the autonomous traveling working device 1 will be described with reference to FIGS. 7 and 11. In FIG. 11, the thickness of the white arrow indicates the strength of the travel setting and the cleaning setting.

  As illustrated in FIG. 7, the control unit 8 of the autonomous traveling work device 1 detects a stationary object on the traveling route 22 in the cleaning area AR1 based on the measurement result of the measuring unit 5 (step S1: Yes). ), The traveling unit 3 is controlled to travel along the traveling route 22 while leaving a predetermined safety distance from the stationary object (step S2). At this time, the control unit 8 controls the autonomous traveling of the traveling unit 3 and the automatic cleaning of the cleaning unit 4 without changing the traveling setting of the traveling speed of the traveling unit 3 or the cleaning setting of the cleaning unit 4. Thereby, the autonomous traveling work apparatus 1 can clean the cleaning area AR1 in a short time by giving priority to cleaning, avoiding a stationary object without decreasing the traveling speed.

  Moreover, the control part 8 of the autonomous traveling working apparatus 1 is based on the measurement result of the measuring part 5, and as shown in FIG. 11 (1), the moving object M (approaching the autonomous traveling working apparatus 1 in the cleaning area AR1). When a non-work target change is detected (step S3: Yes), the cleaning unit 4 is controlled to stop the cleaning work (brush motor rotation or blower suction) (step S4). Further, the control unit 8 stores the position on the travel route 22 where the avoidance of the autonomous traveling work device 1 is started as the avoidance start position, and the autonomous traveling operation on the local map created from the measurement result of the measuring unit 5. Based on the position of the apparatus 1, the wall WA closest to the autonomous traveling work apparatus 1 is detected as an avoidance position that does not prevent the moving object M from proceeding or entering the cleaning area AR1 (step S4). Note that the closest wall WA is selected avoiding doors DO of each room RO, and the entrances and exits of the staircase ST1, the emergency staircase ST2, and the elevator EV. At this time, the control unit 8 may use the area layout 20 or the environment map 21.

  Then, as shown in FIG. 11 (2), the control unit 8 controls the traveling unit 3 so as to move the autonomous traveling working device 1 to the nearest detected wall WA side (step S5). Furthermore, as shown in FIG. 11 (3), the control unit 8 is directed to the path PA side (the moving object M side) in which the autonomous traveling work device 1 moved to the wall WA side can continue to detect the moving object M (the moving object M side). The traveling unit 3 is controlled to turn and stop until the obstacle sensor 5a of the measuring unit 5 faces the cleaning area AR1 (step S5). Note that the movement and turning of the autonomous traveling working device 1 toward the wall WA are performed while avoiding a collision with a surrounding non-working object based on the measurement result of the measuring unit 5.

  Even after the autonomous traveling work device 1 is stopped on the wall WA side, the control unit 8 continues to detect the moving object M by the measuring unit 5, and the moving object M passes through the autonomous traveling work device 1 and detects it. After a lapse of a predetermined time after being stopped (step S6: Yes), the control unit 8 controls the traveling unit 3 to move the autonomous traveling work device 1 to the avoidance start position on the traveling route 22, and then autonomously travels. The traveling unit 3 and the cleaning unit 4 are controlled to resume the work (step S7).

  In the above description, an example has been described in which the control unit 8 detects the nearest wall WA from the autonomous mobile work device 1 as an avoidance position that does not prevent the moving object M from proceeding or entering the cleaning area AR1. It is not limited to. For example, the control unit 8 estimates and calculates the moving route of the moving object M based on the position and the traveling direction of the moving object M on the local map, which is estimated and calculated from the measurement result of the measuring unit 5. The wall WA far from the M movement path may be estimated and detected as an avoidance position. And the control part 8 controls the driving | running | working part 3 so that the autonomous running | working work apparatus 1 may be moved to an avoidance position similarly to the above.

  Next, the prediction operation during execution of autonomous traveling cleaning of the autonomous traveling working device 1 will be described with reference to FIGS. 7 to 10 and FIGS. 12 to 13.

  As illustrated in FIG. 7, the control unit 8 of the autonomous traveling work device 1 does not perform an avoiding operation without detecting a non-work target such as a stationary object or a moving object M in the cleaning area AR1 (Step S3: No). ), Perform a predictive action.

  In the prediction operation, as shown in FIG. 8, the control unit 8 receives ambient information from the management server 101 via the wireless base station 103 by the wireless communication unit 10, stores it in the storage device, and updates the ambient information. It is monitored at any time at predetermined intervals (for example, 1 second) (step S11). And when surrounding information is updated (step S11: Yes), the control part 8 performs the prediction operation | movement according to the kind of surrounding information.

  When the updated surrounding information is emergency information and is the entire building emergency information or the floor-specific emergency information directed to the floor where the autonomous mobile work device 1 is operating (step S12: Yes), the user of the floor It is predicted to move in the cleaning area AR1. Therefore, as in steps S2 to S3 described above, the control unit 8 stops the cleaning operation of the autonomous traveling work device 1 and cleans a non-work target such as a user as shown in FIG. The traveling unit 3 and the cleaning unit 4 are controlled so as to move the autonomous traveling work device 1 to an avoidance position P3 (for example, the avoidance position P3 on the nearest wall WA side) that does not hinder progress or entry in the area AR1 (step S13). To S14).

  Then, when the surrounding information which shows emergency information is updated and the emergency situation is cancelled | released (step S15: Yes), the control part 8 is the autonomous traveling work of the autonomous traveling working apparatus 1 similarly to said step S5. The traveling unit 3 and the cleaning unit 4 are controlled so as to resume (Step S16).

  On the other hand, when the updated surrounding information is not emergency information (step S12: No), that is, the updated surrounding information is the detection information of the room condition sensor (the door lock sensor 110 or the room card sensor 111) of the predetermined room RO, In the case of the detection information of the common part sensor (hall sensor 112 for halls) of the predetermined common part, the control unit 8 shifts to an operation of predicting the entry of the user into the cleaning area AR1 based on the detection information.

  In the approach prediction based on the detection information, as shown in FIG. 9, the control unit 8 determines the predicted entry position of the user based on the sensor position such as the room condition sensor or the common part sensor that has transmitted the updated detection information. It detects (step S21).

  For example, when the detection information of the room card sensor 111 is updated from off to on after the detection information of the door lock sensor 110 is updated from on to off for a predetermined room RO, the user of the room RO Entrance is expected. On the other hand, when the detection information of the door lock sensor 110 is updated from on to off after the detection information of the room card sensor 111 is updated from on to off, as shown in FIG. The user leaving the room RO is predicted, in other words, the user is predicted to enter the cleaning area AR1 from the room RO. Therefore, the control unit 8 detects the position of the door DO of the room RO as the predicted approach position based on the area layout 20 and the environment map 21.

  In addition, when the detection information of the hall human sensor 112 in the elevator hall HA of the elevator EV is updated from on to off, as shown in FIG. 12 (3), it is in the blind spot of the autonomous traveling work device 1 in the cleaning area AR1. It is predicted that the user will enter the traveling direction of the autonomous traveling work device 1 from the elevator hall HA. Therefore, the control unit 8 detects the closest position from the elevator hall HA in the cleaning area AR1 based on the area layout 20 and the environment map 21 as the predicted entry position.

  Further, the control unit 8 determines whether or not the autonomous traveling work device 1 is traveling toward the predicted entry position (step S22), and as shown in FIGS. 12 (2) and 12 (3), the autonomous traveling work is performed. When the apparatus 1 is traveling toward the predicted entry position (step S22: Yes), the distance between the apparatus body 2 and the estimated entry position is determined based on the measurement result of the measurement unit 5, the area layout 20, and the environmental map 21. Calculate (step S23).

  Then, when the calculation result is equal to or less than a predetermined first set distance (for example, 5 m) (step S24: Yes), the control unit 8 controls the traveling unit 3 to decelerate and weaken the strength of the cleaning work. The cleaning unit 4 is controlled (step S25).

  Further, when the distance between the apparatus main body 2 and the predicted entry position becomes equal to or shorter than a second set distance (for example, 1 m) shorter than the first set distance (step S26: Yes), the control unit 8 avoids the predicted entry position. The traveling unit 3 is controlled so as to continue traveling (step S27). Note that the avoidance of step S27 may be the same as the avoidance of the moving object detected in steps S4 to S7.

  Thereafter, when the apparatus body 2 passes the predicted entry position and the distance between the apparatus body 2 and the estimated entry position exceeds the first set distance (step S28: Yes), the control unit 8 The travel setting and the cleaning setting of the cleaning unit 4 are restored to the original state, and the muffling unit 7 is stopped (step S29).

  Alternatively, when the distance between the apparatus main body 2 and the predicted entry position is equal to or smaller than the second set distance, the control unit 8 replaces the avoidance of the predicted entry position in the same manner as steps S2 to S3 described above. While stopping the cleaning work of the apparatus 1, the autonomous traveling work apparatus 1 is placed at an avoidance position (for example, an avoidance position on the nearest wall WA side) that does not prevent the user from proceeding or entering the non-work target cleaning area AR1. You may control the traveling part 3 and the cleaning part 4 so that it may move. In this case, after a predetermined time (for example, 30 seconds) has elapsed since the autonomous traveling work device 1 was stopped, the control unit 8 resumes the autonomous traveling work of the autonomous traveling work device 1 in the same manner as in step S5 described above. Thus, the traveling unit 3 and the cleaning unit 4 are controlled.

  Note that the predicted approach position may be canceled after a predetermined time (for example, 30 seconds) has elapsed since detection. Even if the predicted entry position is detected, if the measurement unit 5 detects a non-work target such as a stationary object or a moving object M in the cleaning area AR1, the avoidance operation may be prioritized.

  In addition, when the surrounding information is not updated (step S11 in FIG. 8: No), the control unit 8 is the surrounding that is the detection information of the room state sensor (the door lock sensor 110 and the room card sensor 111) of the predetermined room RO. Based on the information, the process proceeds to an operation for determining the presence of a user in the room RO.

  In the occupancy determination based on the detection information, as shown in FIG. 10, when the room condition sensor detects the occupancy regardless of the update of the surrounding information (step S31: Yes), for example, the predetermined room RO While the detection signal of the room card sensor 111 is on, the presence of the user in the room RO is determined. Therefore, the control unit 8 detects the wall information (room range on the side of the passage PA) of each room RO based on the area layout 20 and the environment map 21 and autonomously based on the detection signal and wall information of each room RO. It is determined whether the traveling work device 1 is traveling toward the room RO in the room (step S32). For example, in FIG. 13 (1) and FIG. 13 (2), the autonomous traveling work device 1 performs autonomous traveling cleaning with a passage PA adjacent to a plurality of rooms RO from room 303 to room 309 as the cleaning area AR1. An example is shown. In this example, based on the wall information (the walls 303 to 309) of the plurality of rooms RO, the rooms RO in the rooms 304 and 309 are in the room. In addition, (circle) illustrated in FIG. 13 (1) and FIG. 13 (2) shows the start point and end point of the room range of each room RO.

  Then, when the autonomous traveling work apparatus 1 is traveling toward the room RO in the room (step S32: Yes), the control unit 8 determines the apparatus main body 2 and the room RO based on the measurement result of the measurement unit 5. The distance from the room range is calculated (step S33).

  Further, when the calculation result is equal to or less than a predetermined third set distance (for example, 1 m) (step S34: Yes), the control unit 8 causes the traveling unit 3 to decelerate as illustrated in FIG. In addition to controlling, the cleaning unit 4 is controlled so as to weaken the strength of the cleaning operation, and the silencer 7 is activated (step S35).

  Thereafter, when the autonomous traveling work apparatus 1 passes through the room RO and the distance between the apparatus main body 2 and the room range of the room RO exceeds the third set distance (step S36: Yes), the control unit 8 The traveling setting and the cleaning setting of the cleaning unit 4 are restored to the original state, and the muffling unit 7 is stopped (step S37).

  The autonomous traveling cleaning as described above is continued until the autonomous traveling work device 1 reaches the stop position P2 of the traveling route 22, and when the autonomous traveling work device 1 reaches the stop position P2 of the traveling route 22 (step S8: Yes). ), The control unit 8 controls the traveling unit 3 and the cleaning unit 4 so as to end the autonomous traveling cleaning.

  As described above, according to the present embodiment, the autonomous traveling work device 1 capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance includes the device main body 2 and the device main body 2. A traveling unit 3 that travels in the cleaning area AR1 (working area), a cleaning unit 4 (working unit) that performs cleaning (working) on the traveling path 22 in the cleaning area AR1 of the device body 2, and the device body 2. The measurement unit 5 that measures the positional relationship with the non-working target around the apparatus main body 2 and the surrounding information of the cleaning area AR1 and / or its surrounding area AR2 are transmitted to a predetermined external device such as the management server 101 by predetermined wireless communication. The wireless communication part 10 received from an apparatus and the control part 8 which controls the driving | running | working part 3 and the cleaning part 4 are provided. And even if the control part 8 cannot detect the change of non-working objects, such as a user in the cleaning area AR1, based on the measurement result of the measuring part 5, the cleaning area AR1 and / or the surrounding area AR2 based on the surrounding information. The user's behavior is predicted, and at least one operation of the traveling unit 3 and the cleaning unit 4 is limited so as not to disturb the user's behavior.

  With such a configuration, in the autonomous traveling work device 1 according to the present embodiment, even when the measurement unit 5 cannot detect the user in the cleaning area AR1 by using the surrounding information of the cleaning area AR1 and the surrounding area AR2. The user's behavior can be predicted over a wide range of the cleaning area AR1 and the surrounding area AR2. Thereby, the autonomous traveling work device 1 determines the usage status of the facility FA of the user and lowers the traveling setting of the traveling unit 3 and the cleaning setting of the cleaning unit 4 in advance so as not to disturb the user's action. Or stop running and cleaning work. In this way, it is possible to increase the safety and perform autonomous traveling work while giving priority to user traffic and suppressing noise in advance.

  Further, in the present embodiment, the control unit 8 predicts an approach to the cleaning area AR1 or an approach from the blind spot in the cleaning area AR1 to the traveling direction of the apparatus main body 2 as a user action based on the update of the surrounding information. To do.

  With such a configuration, the autonomous traveling work device 1 can respond to the update of the surrounding information as needed even if the surrounding information is updated during the execution of the autonomous traveling cleaning. Accordingly, the autonomous mobile work device 1 can maintain higher cleaning efficiency in accordance with changes in the usage status of the user's facility FA. Further, even when the measuring unit 5 cannot detect the user, since the user is predicted to enter the cleaning area AR1, it is possible to avoid the danger such as a collision with the user who has suddenly entered the cleaning area AR1. Travel cleaning can be performed in advance. Therefore, the autonomous traveling work device 1 can further improve the safety of collision avoidance.

  Further, in the present embodiment, the control unit 8 uses emergency information that prompts the user to move as the surrounding information, and enters the apparatus main body 2 from the user's entry into the cleaning area AR1 and the blind spot in the cleaning area AR1. Predict the approach in the direction of travel.

  With such a configuration, the autonomous mobile work device 1 can detect the movement of a large number of users when an emergency occurs in the facility FA, even if the measuring unit 5 does not detect the users. Autonomous traveling cleaning that can avoid danger such as collision with the user can be performed in advance. Therefore, the autonomous mobile work device 1 can further improve the safety of collision avoidance when an emergency occurs.

  Moreover, in this embodiment, the control part 8 is a case where the approach to the advancing direction of the apparatus main body 2 from the blind spot in the cleaning area AR1 or a blind spot in the cleaning area AR1 is predicted by emergency information as surrounding information. The avoidance position P3 that does not hinder the user's entry is detected based on the measurement result of the measurement section 5, and the traveling section 3 is controlled so that the apparatus main body 2 is moved to the avoidance position P3 and stopped, and the cleaning operation is performed. The cleaning unit 4 is controlled to stop.

  With such a configuration, the autonomous mobile work device 1 moves in advance and opens the road (gives the road) to people and carts that come and go through the cleaning area AR1 so as not to obstruct the traffic. For example, in a cleaning area AR1 such as a hospital or a nursing home, it is possible to appropriately avoid the movement of a patient or elderly person walking along the wall WA. Furthermore, it is possible to cope with a sudden movement of a person, a stretcher, a carriage, etc. in a work area accompanying the transfer of a nurse call or an emergency patient. Therefore, it is possible to perform autonomous traveling and automatic cleaning while reducing discomfort caused by obstruction of traffic of people and carts and improving safety of traffic of people and carts.

  In the present embodiment, the control unit 8 is a room condition sensor (door lock sensor) that is provided in the room RO of the peripheral area AR2 and connected to the management server 101 as the surrounding information and detects the use status of the room RO. 110 and room card sensor 111) and / or the presence of a user in the common area provided in the common area such as the elevator hall HA in the cleaning area AR1 and / or the peripheral area AR2 and connected to the management server 101 Using the detection information of the common part sensor (hall sensor 112 for halls), the user's approach to the cleaning area AR1 and the approach in the traveling direction of the apparatus main body 2 from the blind spot in the cleaning area AR1 are predicted.

  With such a configuration, the autonomous mobile work device 1 can recognize the usage status of the user at various locations in the facility FA by using the room status sensor and the common unit sensor provided in the facility FA. Even if the measuring unit 5 cannot detect a user who is about to leave the room RO, a user who is in a place with a poor view from the autonomous traveling work device 1, or a user who enters the cleaning area AR1 from the outside. In addition, it is possible to carry out autonomous running cleaning in advance so as to avoid danger such as a collision with the user. Therefore, the autonomous traveling work device 1 can further improve the safety of collision avoidance in accordance with the usage status of users in various places of the facility FA. Moreover, since normal autonomous traveling cleaning is maintained in a place where the user's entry is not predicted, the functions of the traveling unit 3 and the cleaning unit 4 are not unnecessarily restricted, and the cleaning efficiency can be maintained well. .

  Moreover, in this embodiment, the control part 8 is a case where the approach to the advancing direction of the apparatus main body 2 from the blind spot in the cleaning area AR1 or a user's entrance into the cleaning area AR1 is estimated by the detection information as surrounding information. Based on the detection information, the predicted entry position of the user to the cleaning area AR1 is detected, and the distance between the apparatus main body 2 and the estimated entry position is calculated based on the measurement result of the measurement unit 5. And the control part 8 controls the cleaning part 4 so that the intensity | strength of cleaning work may be weakened while controlling the driving | running | working part 3 to decelerate, when the calculation result is below a predetermined 1st set distance. Furthermore, the control unit 8 controls the traveling unit 3 so as to avoid the predicted entry position when the calculation result is equal to or less than a predetermined second set distance shorter than the first set distance.

  With such a configuration, the autonomous traveling work device 1 can perform in advance autonomous traveling cleaning that can more reliably avoid dangers such as a collision with a user.

  Moreover, in this embodiment, the control part 8 determines the presence of the room RO of the surrounding area AR2 as a user's action based on surrounding information.

  With such a configuration, the autonomous traveling work device 1 can autonomously travel so that it is possible to reduce discomfort such as noise for the user even when the user in the room RO cannot be detected by the measurement unit 5. Cleaning can be done in advance. Therefore, the autonomous traveling work device 1 can reduce discomfort such as noise caused by autonomous traveling cleaning not only for the cleaning area AR1 but also for users in the surrounding area AR2 such as the room RO.

  In the present embodiment, the controller 8 is provided in the room RO as ambient information and is connected to the management server 101 to detect a room situation sensor (a door lock sensor 110 or a room card sensor). 111), the user is predicted to leave the room RO.

  With such a configuration, the autonomous traveling work device 1 can more reliably recognize the user leaving the room RO with a simple configuration using the room condition sensor provided in the facility FA.

  In the present embodiment, the autonomous traveling work device 1 further includes a silencer 7 that silences noise generated by the cleaning operation of the cleaning unit 4. When the presence of the user's room RO is determined based on the detection information as the surrounding information, the control unit 8 detects the room range of the room RO and based on the measurement result of the measurement unit 5, the control unit 8 and the room Calculate the distance to the range. Then, when the calculation result is equal to or less than the predetermined third set distance, the control unit 8 controls the traveling unit 3 so as to decelerate and controls the cleaning unit 4 so as to weaken the strength of the cleaning work. Then, the silencer 7 is activated.

  With such a configuration, the autonomous traveling work device 1 can mute the noise of the cleaning unit 4 with a simple configuration without stopping the cleaning work. And discomfort such as noise caused by autonomous traveling cleaning can be more reliably reduced for the user in the surrounding area AR2 such as the room RO. In addition, autonomous traveling and automatic cleaning can be performed while reducing noise discomfort associated with autonomous traveling and automatic cleaning.

  In the present embodiment, the autonomous traveling work system 100 includes the autonomous traveling work apparatus 1 as described above, the management server 101 provided in the facility FA having the cleaning area AR1, and the management server provided in the cleaning area AR1. 101, and a wireless base station 103 capable of wireless communication with the autonomous traveling work device 1 in the cleaning area AR1.

  With such a configuration, the autonomous traveling work system 100 allows the wireless traveling station 1 to transmit the surrounding information from the management server 101 by the wireless base station 103 regardless of the position of the autonomous traveling work apparatus 1 in the cleaning area AR1. Can be reliably transmitted. Therefore, the autonomous mobile work device 1 can always predict the actions of the users in the cleaning area AR1 and the surrounding area AR2 based on the latest surrounding information, in other words, the use of the facility FA of the user in real time. Can recognize the situation. Therefore, the autonomous traveling work system 100 can provide safe autonomous traveling cleaning that does not hinder the user's behavior while maintaining the cleaning efficiency at a high level.

  In the above-described embodiment, an example in which a non-work target such as a stationary object or a moving object M to be avoided in the cleaning area AR1 is detected based on the detection result of the measurement unit 5 is described. However, the present embodiment is limited to this example. For example, you may detect a non-work object based on the surrounding image imaged with the imaging part 6. FIG. In the above-described embodiment, in the prediction operation, based on the detection result of the measurement unit 5, the distance between the apparatus main body 2 and the predicted entry position of the user, or the distance between the apparatus main body 2 and the room range of the room RO. However, the present invention is not limited to this example. For example, these distances may be calculated based on the surrounding image captured by the imaging unit 6.

  In the above-described embodiment, the example in which the cleaning unit 4 is configured by a dry cleaning mechanism has been described. However, the cleaning unit 4 is not limited to this example, and may be configured by a wet cleaning mechanism.

  Further, the present invention can be appropriately changed without departing from the spirit or idea of the invention which can be read from the claims and the entire specification, and an autonomous traveling work apparatus accompanied by such a change is also a technique of the present invention. Included in thought.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used for an autonomous traveling work device capable of autonomous traveling work and a business automatic floor cleaning / cleaning device configured integrally therewith in accordance with a program input in advance.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling apparatus 2 Apparatus main body 3 Traveling part 4 Cleaning part (working part)
DESCRIPTION OF SYMBOLS 5 Measurement part 5a Obstacle sensor 6 Imaging part 6a Camera 7 Silencer part 8 Control part 9 Operation display part 10 Wireless communication part 11 Power supply part 20 Area layout 21 Environmental map 22 Travel route 31 Main switch 32 Emergency stop button 33 Touch panel 35 Menu screen 37 Area selection screen 100 Autonomous traveling work system 101 Management server 102 Management computer 103 Wireless base station 104 Floor controller 105 LAN
106 Internet 107 Emergency information dispatch site 110 Door lock sensor 111 Room card sensor 112 Hall sensor

Claims (10)

An autonomous traveling work device capable of performing autonomous traveling work that autonomously travels and automatically works according to a program input in advance,
The device body;
A traveling unit that travels the apparatus body in a work area;
A working unit for performing work on a travel route in the work area of the apparatus body;
A measurement unit for measuring a positional relationship between the apparatus main body and a non-work target around the apparatus main body;
A wireless communication unit that receives surrounding information of the work area and / or its surrounding area from a predetermined external device by predetermined wireless communication;
A control unit for controlling the operation of the traveling unit and the working unit,
The control unit predicts the behavior of the work area and / or the user in the peripheral area based on the surrounding information when the measurement unit does not detect a change in the non-work target in the work area. An autonomous traveling work device that restricts at least one operation of the traveling unit and the working unit so as not to hinder the user's behavior.   The autonomous traveling work device according to claim 1, wherein the control unit predicts entry into the work area as the user's action based on the update of the surrounding information.   The autonomous system according to claim 2, wherein the control unit predicts an entry of the user into the work area by using emergency information that prompts the user to move as the surrounding information. Traveling work device.   The control unit detects an avoidance position that does not prevent the user from entering based on the measurement result of the measurement unit when the user enters the work area by the emergency information as the surrounding information. 4. The autonomous system according to claim 3, wherein the traveling unit is controlled so as to be stopped by moving the apparatus main body to the avoidance position, and the working unit is controlled so as to stop the work. Traveling work device.   The control unit is provided in the room of the peripheral area as the surrounding information, and is connected to the external device and is detected by a room state sensor that detects the use state of the room, and / or the work area and / or Alternatively, using the detection information of the shared part sensor that is provided in the shared part of the peripheral area and is connected to the external device and detects the presence of the user in the shared part, the user can access the work area. The autonomous traveling work device according to claim 2, wherein an approach is predicted.   The control unit detects a predicted entry position of the user into the work area based on the detection information when the entry of the user into the work area is predicted by the detection information as the surrounding information. Then, based on the measurement result of the measurement unit, the distance between the apparatus main body and the predicted entry position is calculated, and when the calculation result is equal to or less than a predetermined first set distance, the traveling unit is decelerated. And controlling the working unit so as to weaken the strength of the work, and if the calculation result is equal to or less than a predetermined second set distance shorter than the first set distance, The autonomous traveling work apparatus according to claim 5, wherein the traveling unit is controlled so as to avoid it.   The autonomous traveling work device according to claim 1, wherein the control unit determines presence of a room in the peripheral area as an action of the user based on the surrounding information.   The controller uses the detection information of a room status sensor that is provided in the room and connected to the external device and detects the usage status of the room as the surrounding information, and uses the detection information of the room of the user. The autonomous traveling work device according to claim 7, wherein a room is determined. A silencer that silences noise generated by the operation of the working unit;
When the presence of the user in the room is determined by the detection information as the surrounding information, the control unit detects a room range of the room, and based on a measurement result of the measurement unit, the device The distance between the main body and the room range is calculated, and when the calculation result is equal to or smaller than a predetermined third set distance, the working unit is controlled so as to reduce the strength of the work while controlling the traveling unit to decelerate. The autonomous traveling work device according to claim 8, further comprising: starting the silencer. The autonomous traveling work device according to any one of claims 1 to 9,
A management server as the external device provided in the facility having the work area;
An autonomous traveling work system comprising: a wireless base station provided in the working area and connected to the management server and capable of wireless communication with the autonomous traveling working device in the working area.

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